CN102773878B - Detection method for fully-automatic IC (chip) tape and detection equipment thereof - Google Patents
Detection method for fully-automatic IC (chip) tape and detection equipment thereof Download PDFInfo
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- CN102773878B CN102773878B CN201210256841.XA CN201210256841A CN102773878B CN 102773878 B CN102773878 B CN 102773878B CN 201210256841 A CN201210256841 A CN 201210256841A CN 102773878 B CN102773878 B CN 102773878B
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Abstract
The invention discloses a detection method for a fully-automatic IC (chip) tape and detection equipment for the fully-automatic IC tape. The detection method comprises the following steps that: the IC tape is controlled by the forward rotation of a servo motor to bait from a feeding and baiting module device; the IC tape is conveyed to an auxiliary tape module device to be fed by a guide rail module device; in the process, an electric control system controls a detection camera to detect and record the IC tape, and the process is called primary detection for short; then, the IC tape is controlled by the reverse rotation of the servo motor to bait from the auxiliary tape module device; then the IC tape is conveyed to the feeding and baiting module device to be fed by the guide rail module device; in the process, the electric control system controls the detection camera to detect and record the IC tape, and the process is called secondary detection for short; a primary-detection result is compared with a secondary-detection result; if both the detection results are unqualified, an unqualified product is marked; if the primary-detection result is qualified and the secondary-detection result is unqualified or the primary-detection result is unqualified and the secondary-detection result is qualified, a worker is notified to confirm; and the product is manually judged as an unqualified product and then marked.
Description
Technical field
The present invention relates to the new equipment of the automatic certification mark of a kind of IC winding, more precisely, relate to a kind of can be by the IC winding forming after chip braid, from loading and unloading die set, through the traction of guide rail die set forward, carry, detect module one inspection, after auxiliary Webbing take-up device rolling puts in place, guide rail die set oppositely draws conveying, detects module two inspections, cancellation mark module marking, a kind of full-automatic IC winding certification mark machine of loading and unloading die set rolling.
Background technology
Chip (being called for short IC) braid on braider forms after winding, need to carry out complete detection one time to the presentation quality of winding, and the project of detection has the damaged situation of winding, cover strip press seal quality, chip character to print additional quality etc.At present, the detection of these appearance items of winding, what mainly adopt is Manual Visual Inspection, just there is undetected, test stone disunity in this, a lot of erroneous judgement situations usually occur.A lot of enterprises wish to have a kind of automation visual inspection equipment to substitute artificial Mu Jian ﹐ to reduce human factor Gan Rao ﹐ reduction visual inspection abnormal rate was, avoid the manpower waste of heavily examining.
Summary of the invention
The present invention, in order to solve the problems of the prior art, provides a kind of detection method of full-automatic IC winding, and it can adopt automation equipment to complete, and has reduced to think and the interference of factor improved operating efficiency, has saved the cost of manpower simultaneously.
For achieving the above object, technical scheme of the present invention is: a kind of detection method of full-automatic IC winding, comprises the following steps:
Servomotor forward is controlled IC winding from the blanking of loading and unloading die set, through guide rail die set, is delivered to auxiliary winding die set material loading, and in this process, electric control system is controlled detection camera, and to IC, winding detects and record, is called for short an inspection; Then servomotor reversion is controlled IC winding from auxiliary winding die set blanking, through guide rail die set, is delivered to loading and unloading die set material loading, and in this process, electric control system is controlled detection camera, and to IC, winding detects and record, is called for short two inspections;
The result of contrast one inspection and two inspections, defective if testing result is, defective work is carried out to mark; If an inspection is qualified, two inspections are defective or an inspection is defective, two letters are qualified, notice is manually confirmed, if artificial judgment is defective work, defective work is carried out to mark.
Another object of the present invention, for a kind of full-automatic IC winding certification mark machine is provided, comprising:
For the loading and unloading die set of blowing and rewinding, auxiliary winding die set, described loading and unloading die set, auxiliary winding die set include for placing the reel bolster of IC winding controlled servomotor; And be arranged between described loading and unloading die set and auxiliary winding die set,
Guide rail die set, comprises a gathering sill of carrying for IC winding;
Detect die set, comprise a plurality of detection camera that are positioned at described gathering sill top, described detection camera detects and record the IC winding on gathering sill; And,
Be positioned at gathering sill top and underproof IC winding carried out to the cancellation mark die set of mark; And,
For controlling the electric control system of loading and unloading die set, auxiliary winding die set, guide rail die set, detection die set, the coordinated movement of various economic factors of cancellation mark die set.
Preferably, comprise a loading stand, described loading and unloading die set, auxiliary winding die set lay respectively at the two ends of loading stand, comprise that respectively one is installed in the gripper shoe of loading stand, and the rotating shaft that is installed in the servomotor in gripper shoe is connected with reel bolster.
Preferably, described reel bolster is provided with an axial fast positioning clamping device, comprise the chuck that is provided with central through hole, the sidewall of described chuck longitudinally has one through described central through hole but does not run through the groove of chuck, also comprise that guider screw and is provided with the fixture block of through hole, described guider screw is through the screw arranging on the slotted hole arranging on fixture block and chuck, fixture block is engaged in groove, the bottom resilient engagement of described fixture block and groove, described fixture block, in the process of sliding along groove, has a position that its through hole is communicated with the central through hole of chuck.
Preferably, the bottom of described fixture block is provided with spring base hole, in described spring base hole, spring is housed, together with groove fit.
Preferably, described guide rail die set comprises bearing, and described bearing is provided with two slide blocks that are positioned on same slide rail; On two slide blocks, be fixed with respectively a fromer rail, rear rail; Between described fromer rail and rear rail, form the described gathering sill of carrying for IC winding.
Preferably, on described gathering sill, be also provided with one be controlled by traction servomotor for transmitting the aciculiform delivery wheel of IC coiled material.
Preferably, described detection die set comprises bracing frame, be packed in slide rail on bracing frame and be combined with a slide block that is controlled by lift cylinder, the both sides of described slide block are sliding combined with sliding sleeve by fine setting horizontal sliding bar, and described detection camera is combined together by fine adjustment of vertical slide bar and sliding sleeve.
Preferably, described cancellation mark die set comprises the mark paper disc installation shaft being arranged on cancellation mark module installing rack and reclaims paper disc installation shaft, also be provided with a substandard products hole punched device, comprise the installation sleeve, the punching cylinder that are fixed on cancellation mark module installing rack, the axle head of exerting oneself of described punching cylinder connects firmly a drift, described drift coordinates the excellent power glue of buffering and linear bearing to be arranged in installation sleeve, the lower end of described installation sleeve connects firmly a die, described die has a punching passing for drift, and a notch passing for mark paper tape.
Preferably, also be provided with a gravity tensioning device, comprise the gravity tensioning device installing plate being arranged on described cancellation mark module installing rack, on described installing plate, be sliding combined with a slide block, the front of described slide block is fixedly mounted with a gravity tensioning directive wheel passing for mark paper bag, the both sides that are positioned at gravity tensioning directive wheel top on described gravity tensioning device installing plate are fixedly mounted with respectively a mark sheet tape guide roller, the below of described slide block is provided with a sensing chip, described sensing chip has a position that inductor sensed arranging on by gravity tensioning device installing plate in the process declining with slide block.
A kind of full-automatic IC winding certification mark machine of the present invention, its before start by manually the axial fast positioning clamping device on loading and unloading die set being taken off, and the reel of the IC winding that needs are detected packs reel bolster (having key to coordinate with the keyway on reel on this axle) into, come on reel position-arresting disk, again axial fast positioning clamping device is installed to appropriate location, to locate the axial location of reel.Afterwards, by manually the end of IC winding being drawn, through auto-tensioning roller, winding guide reel, the gathering sill of forward and backward guide rail, aciculiform delivery wheel, be finally directed on the reel bolster of assisting winding die set fixing.In addition, also mark paper disc to be installed in mark paper disc installation shaft, again the end on paper disc is drawn, one of paper tape kiss-coating is faced down, one of kiss-coating do not face up, through the notch (now the end of drift is above die notch) on the die of substandard products hole punched device, again through each mark sheet guide roller and gravity tensioning device thereafter, finally on the solid recovering tray around reclaiming in paper disc installation shaft, when recovering tray motor obtains order rotation, will drive the recovery paper disc installation shaft connecting firmly with it to rotate, drive simultaneously and be packed in that the recovering tray reclaiming in paper disc installation shaft rotates and by the scratch tape rolling after mark.
After above-mentioned Job readiness is good, the program that starts the machine is carried out an inspection to winding, three motors in winding induction system are simultaneously in running order, when the traction servomotor on it starts, drive aciculiform delivery wheel is made to winding, and at the uniform velocity forward (to the right) is mobile, when in winding, first chip arrives the first sensor location, two detection camera start, in the time of under first chip arrives the first detection camera, the first detection camera detects whether the cover strip at first chip place is sealed and whether breaking etc. place on record, when second, when the follow-up chip such as the 3rd is come under the first detection camera, be not always the case detection and record until winding all detected, equally, in the time of under first chip arrives the second detection camera, whether the second detection camera correctly etc. detects print additional quality and chip direction to character on first chip place on record, in the time of under the follow-up chip such as second, the 3rd is come the second detection camera, be not always the case detection and record until winding all detected.Winding at the uniform velocity drives in forward course of conveying at aciculiform delivery wheel, and the volume on loading and unloading die set and auxiliary winding die set is put band servomotor and kept synchronizeing automatic releasing band or rolling band with traction servomotor all the time.
When last chip of winding arrives the position of the second inductor, servomotor is controlled rotates backward in traction, winding after driving one to examine at the uniform velocity oppositely (left) is mobile, when last chip of the winding after an inspection arrives under the second detection camera, whether the second detection camera correctly etc. carries out two inspections (reinspection) by print additional quality and chip direction to character on this chip, and by testing result and an inspection result comparison, if it is defective that an inspection and two inspections are, when this chip arrives cancellation mark die set, will be stamped substandard products (defective) mark; If an inspection is for defective two inspections are for a qualified or inspection is for qualified two inspections are when defective, traction servomotor will hard stop and is sent alarm signal, by manually estimating judgement.If it is qualified that range estimation is judged as, just on display screen, by " qualified ", to be good for, then to press " continuation " button of machine, traction is carried and is proceeded, and when it arrives the below of cancellation mark device, mark drift can not carry out mark to this place; If it is defective that range estimation is judged as, just on display screen, by " defective ", to be good for, then to press " continuation " button of machine, traction is carried and is proceeded, and when it arrives cancellation mark device below, mark drift will carry out once defective mark to this place.When the follow-up chip such as second, the 3rd is come under the second detection camera in winding, be not always the case and detect and process.
When last chip of the winding after an inspection arrives under the first detection camera, the first detection camera detects whether the cover strip at this chip place is sealed and whether breaking etc., and by testing result and an inspection result comparison, if it is defective that an inspection and two inspections are, when this chip arrives cancellation mark die set, cancellation mark will be stamped; If an inspection is for defective two inspections are for a qualified or inspection is for qualified two inspections are when defective, traction servomotor will hard stop and is sent alarm signal, by manually estimating judgement.If it is qualified that range estimation is judged as, just on display screen, by " qualified ", to be good for, then to press " continuation " button of machine, traction is carried and is proceeded, and when it arrives cancellation mark device below, mark drift can not carry out mark to this place; If it is defective that range estimation is judged as, just on display screen, by " defective ", to be good for, then to press " continuation " button of machine, traction is carried and is proceeded, and when it arrives cancellation mark device below, mark drift will carry out cancellation mark one time to this place.When the follow-up chip such as second, the 3rd is come under the first detection camera in winding, be not always the case and detect and process.
Winding is when two inspections, aciculiform delivery wheel at the uniform velocity drives in reverse (left) course of conveying of winding, and the volume that 1 rolling of loading and unloading die set and auxiliary winding die set unreel is put band servomotor 101 and kept synchronizeing automatic releasing band or rolling band with traction servomotor 112 all the time.
When last chip of winding after an inspection (or first chip after two inspections) arrives the notch of die, if the chip reaching below it is while needing the substandard products of mark, the punching cylinder that obtains tab command starts, drive drift mark paper tape to be swept away to roundlet scraps of paper downwards, then drift continues to slow down descending under cushioning effect, the cancellation mark position that these little scraps of paper is attached to winding, completes the markers work to substandard products in winding.If the chip reaching below it is that while not needing the certified products of mark, punching cylinder does not start, winding is not implemented to cancellation mark.
After an inspection, two inspections and the mark of first volume winding complete, unclamp fast positioning clamping device, take off the first winding, be loaded on volume Two winding and detect one by one and mark by above-mentioned steps, just the winding of volume one volume can be detected and mark.After mark paper tape is finished, unscrew axial location binding clasp, unload the waste paper band that mark is crossed, load onto new mark paper tape and can proceed.
Accompanying drawing explanation
Fig. 1 shows the structural representation of IC winding certification mark machine of the present invention.
Fig. 2 shows the connection diagram of loading and unloading die set in Fig. 1, guide rail die set, auxiliary winding die set.
Fig. 3, Fig. 4, Fig. 5 show the structural representation of Fig. 2 middle guide die set.
Fig. 6 shows the structural representation of the axial fast positioning clamping device of the present invention,
Fig. 7 shows the explosive view of axial fast positioning clamping device in Fig. 6.
Fig. 8 shows the structural representation that the present invention detects die set.
Fig. 9 shows the structural representation of cancellation mark die set of the present invention.
Figure 10 shows the explosive view of substandard products hole punched device in Fig. 9.
Figure 11 shows the structural representation of die in Fig. 9.
Figure 12 shows the structural representation of gravity tensioning device in Fig. 9.
Wherein the label in accompanying drawing is as follows: 1 loading and unloading die set, 2 guide rail die sets, 3 detect die set, 4 auxiliary winding die sets, 5 cancellation mark die sets, 6 display screens, 7 input keyboards, 8 electric control systems, 101 volumes are put band servomotor, 102 reel position-arresting disks, 103 axial fast positioning clamping devices, 104 reel bolsters, 105 gripper shoes, 106 idler rollers, 107 winding guide reels, 108 rear rails, 109 fromer rails, 110 first sensors, 111 second sensors, 112 traction servomotors, 113 Compress Springs, 114 pinch rollers, 115 aciculiform delivery wheels, 116 loading stand, 117 gauge adjustment clamps, 118 guide rail slide blocks, 119 slide rails, 120 bearings, 121 first camera reflector-brackets, 122 second camera reflector-brackets, 123 pinch roller installing plates, 124 linear bearings, 125 axis of guides, 126 are fixedly mounted with plate, 1031 chucks, 1032 fixture blocks, 1033 guider screws, 1034 springs, 1035 central through holes, 1036 grooves, 1037 screws, 1038 spring base holes, 1039 through holes, 10310 slotted holes, 301 camera lift cylinders, 302 slide blocks, 303 sliding sleeves, 304 slide rails, 305 vertical slide bars, 306 detection camera, 307 light sources, 308 bracing frames, 309 mount pads, 310 horizontal sliding bars, 501 mark paper disc installation shaft, 502 cancellation mark module installing racks, 503 mark sheet tape guide rollers, 504 drifts, 505 connectors, 506 punching cylinders, 507 gravity tensioning device installing plates, 508 recovering tray motors, 509 reclaim paper disc installation shaft, 510 linear bearings, the excellent power glue of 511 buffering, 512 installation sleeves, 513 dies, 514 gravity tensioning directive wheels, 515 sensing chips, 516 inductors, 517 lower limit pins, 518 slide blocks, 519 guide wheel brackets, 520 upper arresting pins, 521 slide rails, 522 axial location binding clasps.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.
The structure of a kind of full-automatic IC winding certification mark machine of the present invention forms as shown in Figure 1, comprise the loading and unloading die set 1 for blowing and rewinding, auxiliary winding die set 4, described loading and unloading die set 1, auxiliary winding die set 4 include for placing the reel bolster of IC winding controlled servomotor; And be arranged on the guide rail die set 2 between described loading and unloading die set 1 and auxiliary winding die set 4, comprise a gathering sill of carrying for IC winding; Detect die set 3, comprise a plurality of detection camera that are positioned at described gathering sill top, described detection camera detects and record the IC winding on gathering sill; And be positioned at gathering sill top and underproof IC winding carried out to the cancellation mark die set 5 of mark; And for controlling the electric control system 8 of loading and unloading die set 1, auxiliary winding die set 4, guide rail die set 2, detection die set 3,5 coordinated movements of various economic factors of cancellation mark die set.Full-automatic IC winding certification mark machine of the present invention also can comprise input keyboard 7 and display screen 6 etc.
Full-automatic IC winding certification mark machine of the present invention is in work, servomotor forward is controlled IC winding from 1 blanking of loading and unloading die set, through guide rail die set 2, be delivered to auxiliary winding die set 4 material loadings, in this process, electric control system 8 is controlled detection camera, and to IC, winding detects and record, is called for short an inspection; Then servomotor reversion is controlled IC winding from auxiliary winding die set 4 blankings, through guide rail die set 2, be delivered to loading and unloading die set 1 material loading, in this process, electric control system is controlled detection camera, and to IC, winding detects and record, is called for short two inspections; The result of contrast one inspection and two inspections, defective if testing result is, defective work is carried out to mark; If an inspection is qualified, two inspections are defective or an inspection is defective, two letters are qualified, notice is manually confirmed, if artificial judgment is defective work, defective work is carried out to mark.
Loading and unloading die set 1 of the present invention, guide rail die set 2 and auxiliary winding die set 4 have formed winding induction system.Loading and unloading die set 1 is that tested IC winding is unreeled and carries out an inspection, then by a kind of device of the same winding rolling after two inspections and mark; Auxiliary winding die set 4 is by the IC winding rolling after an inspection, unreels afterwards a kind of device that carries out two inspections and mark again; It is the conveying of constant speed traction IC winding forward to carry out an inspection that guide rail die set preferably arranges, and is again that a kind of device that carries out two inspections and mark is oppositely carried in constant speed traction winding afterwards.
Loading and unloading die set 1 of the present invention and auxiliary winding die set 4 are according to the description of above-mentioned functions, its structure can adopt and known in the artly unreel, rolling structure, the preferred structure of the present invention is as follows: the structure of the two is basic identical, at this, only loading and unloading die set is described, and can put band servomotor 101 by volume, reel position-arresting disk 102, axial fast positioning clamping device 103, reel bolster 104, gripper shoe 105, idler roller 106, winding guide reel 107 compositions such as grade.
Be provided with a loading stand 116 that can be fixed on work top, the gripper shoe 105 that is packed in loading stand 116 one end is provided with for the reel bolster 104 of IC winding is installed, and it is put and be with servomotor 101 to control by volume.On described reel bolster 104, be also provided with for spacing reel position-arresting disk 102, the reel of itself and IC winding can be undertaken spacing by groove or through hole, for the ease of the folding and unfolding of IC winding and be controlled at the tension force that regulates IC winding in the process of folding and unfolding, one idler roller 106 is also installed in gripper shoe 105, its concrete structure belongs to the common practise of this area, at this, no longer illustrates.
IC winding reel is put into after reel bolster 104, one axial fast positioning clamping device 103 is set locks, axial fast positioning clamping device 103 in Fig. 6, Fig. 7 is for locating fast the reel of IC winding and clamping, thereby the axially movable a kind of device of reel of restriction IC winding, can be by chuck 1031, fixture block 1032, guider screw 1033 and Compress Spring 1034 form; The middle part of described chuck 1031 is provided with central through hole 1035, the sidewall of described chuck longitudinally has one through described central through hole 1035 but does not run through the groove 1036 of chuck 1031, also comprise that guider screw 1033 and is provided with the fixture block 1032 of through hole 1039, described guider screw 1033 is through the screw 1037 arranging on the slotted hole 10310 arranging on fixture block 1032 and chuck 1031, thereby fixture block 1032 is engaged in groove 1036, due to the self structure of slotted hole 10310, fixture block 1032 can be moved by the length direction along slotted hole 10310 in groove 1036.The bottom of described fixture block 1032 and groove 1036 flexibly fits together, and described fixture block 1032, in the process of sliding along groove 1036, has a position that its through hole 1039 is communicated with the central through hole 1035 of chuck 1031.
Preferred structure, the bottom of described fixture block 1032 is provided with spring base hole 1038, also comprise Compress Spring 1034, in the time of assembling, first Compress Spring 1034 is put into the spring base hole 1038 of fixture block 1032, then be inserted in the groove 1036 on chuck 1031, with guider screw 1033, screw in the screw 1037 of chuck 1031, and through in the slotted hole groove 10310 of fixture block 1032, thereby fixture block 1032 has been engaged in chuck 1031.
On being enclosed within reel bolster 104 so that the reel of IC winding is positioned and to be clamped, with mother, refer to block chuck 1031 and fixture block 1032 with forefinger, pressing fixture block 1032 makes it to lower compression Compress Spring 1034, until during 1039 alignment of the central through hole 1035 on chuck 1031 and the through hole on fixture block 1032, fast positioning clamping device 103 is set on spool bolster to 104, unclamp that mother refers to and forefinger, under the effect of Compress Spring 1034 elastic-restoring forces, Compress Spring 1034 outwards promotes fixture block 1032, make the through hole 1039 of fixture block 1032 and 1035 dislocation of the central through hole of chuck 1031, thereby be clamped on spool bolster 104, realize quick location and the clamping of reel.This device axial location is quick and convenient, clamping is effectively reliable; This device is realized the axially location and clamping fast to winding reel by the size in the hole that changes chuck and fixture block and form; It is simple in structure, and cost is low, and efficiency is high.
Guide rail die set of the present invention is according to the description of above-mentioned functions, its structure can adopt structure known in the art, the preferred structure of the present invention is as follows: can comprise rear rail 108, fromer rail 109, first sensor 110, the second sensor 111, traction servomotor 112, spring 113, pinch roller 114, aciculiform delivery wheel 115, loading stand 116, gauge adjustment clamp 117, guide rail slide block 118, slide rail 119, bearing 120, first camera reflector-bracket 121, second camera reflector-bracket 122, pinch roller installing plate 123, linear bearing 124, the axis of guide 125, be fixedly mounted with plate 126 etc.
With reference to figure 2, Fig. 3, Fig. 4, described guide rail die set 2 comprises the bearing 120 being packed in loading stand 116, and described bearing 120 is provided with two guide rail slide blocks 118 that are positioned on same slide rail 119; Fromer rail 108 and rear 109 two ends are packed in respectively with slide rail 119 to be had on the guide rail slide block 118 of slip cooperating relationship, finally fixing by a gauge adjustment clamp 117.The requirement of different gauges can realize by the gauge adjustment clamp 117 of different size, while requiring to adjust gauge according to product specification, only the gauge adjustment clamp 117 being packed on bearing 120 need be unloaded, change satisfactory gauge adjustment clamp 117, make guide rail 108 and 109 along in slide rail 119 slips, just in time make gauge adjustment clamp 117 be stuck in fromer rail, rear rail and bearing 20 between, with screw, gauge adjustment clamp 117 is packed on bearing 120 and can meets gauge requirement.Between fromer rail 108 and rear rail 109, formed the described gathering sill of carrying for IC winding.
With reference to figure 5, for the ease of IC winding, in gathering sill, transmit, on described gathering sill, also can be provided with one and be controlled by the aciculiform delivery wheel 115 that draws servomotor 112.Aciculiform delivery wheel 115 is packed in the axle head of traction servomotor 112, the needle gage of aciculiform delivery wheel 115 is identical with the pitch-row in winding, aciculiform delivery wheel 115 rotates and can drive winding conveying mobile, for guaranteeing winding straight line, steadily carry, be installed on the pinch roller installing plate 123 of fromer rail 108 or rear rail 109 elastic press wheel 114 is set, it is positioned at the top of aciculiform delivery wheel 115.Being fixedly mounted with of pinch roller installing plate 123 and the side of being located thereon has a spring 113 between plate 126, this spring 113 is by pinch roller installing plate 123 and pinch roller 114 is provided to the elastic force of a compressing.Be fixedly mounted with the structure that the connected mode between plate 126 and pinch roller installing plate 123 can adopt linear bearing 124 and the axis of guide 125 to coordinate, it is structure known in the art, at this, no longer illustrates.Two winding guide reels 107 are separately positioned between loading and unloading die set and guide rail die set, and between guide rail die set and auxiliary winding die set, so that IC winding can successfully be sent to guide rail die set and auxiliary winding die set from loading and unloading die set.
Detection for the ease of subsequent detection camera, below gathering sill, be also provided with the camera reflector-bracket that reflector lamp is installed, the present invention is because adopt two detection camera, therefore be provided with first camera reflector-bracket 121 and second camera reflector-bracket 122, in its first detection position, be also provided with first sensor 110, in its second detection position, be provided with the second sensor 111.
Before start, reel by the IC winding of manually the axial fast positioning clamping device 103 on loading and unloading die set 1 being taken off and needs being detected packs reel bolster 104 into, come on reel position-arresting disk 102, again fast positioning clamping device 103 clampings are arrived to appropriate location, to locate the axial location of take-up reel.Afterwards, by manually the end of winding 100 being drawn, pass through auto-tensioning roller 106, winding guide reel 107, enter gathering sill, aciculiform delivery wheel 115 between fromer rail 108, rear rail 109, be finally directed on the reel bolster 104 of assisting winding die set 4 fixing.
When start detection and mark, traction servomotor 112 starts (two volumes are put band servomotor 101 and also started simultaneously) and drives aciculiform delivery wheel 115 that winding is fed forward, when first material piece in winding arrives first sensor 110, two detection camera start to start shooting state, winding at the uniform velocity moves right fast, the first detection camera and the second detection camera start an inspection, fast detecting is taken, and testing result is placed on record one by one, when last chip block of winding afterbody passes through second place sensor 111, traction servomotor 112 is shut down, reverse starting immediately, drive winding to be at the uniform velocity moved to the left fast, the first detection camera and the second detection camera start two inspections, fast detecting is taken, and testing result is placed on record one by one, an if inspection, two inspections are defective, when this position arrives cancellation mark die set 5 below, the drift of cancellation mark die set 5 starts, to substandard products, paste upper defective mark.When one inspection of a certain position is for defective two inspections are for a qualified or inspection is for qualified two inspections are when defective, the traction servomotor 112 on guide rail die set will hard stop and is sent alarm signal, by manually estimating judgement.If it is qualified that range estimation is judged as, just on display screen, by " qualified ", to be good for, then to press " continuation " button of machine, traction is carried and is proceeded, and in the time of below this place arrives cancellation mark device, mark drift can not carry out mark to this place; If it is defective that range estimation is judged as, just on display screen, by " defective ", to be good for, then to press " continuation " button of machine, traction is carried and is proceeded, and when it arrives cancellation mark device below, mark drift will carry out once defective mark to this place.After two inspections complete, machine autostop, manually implements blanking and material loading operation.Repeat again afterwards said process and process, just the reel of volume one volume can be continued detect one by one and mark.
Survey die set of the present invention is according to the description of above-mentioned functions, its structure can adopt structure known in the art, and the preferred structure of the present invention is as follows: mainly comprise camera lift cylinder 301, slide block 302, sliding sleeve 303, slide rail 304, vertical slide bar 305, detection camera 306, light source 307, bracing frame 308, mount pad 309, horizontal sliding bar 310 etc.
The mount pad 309 use bolts that are fixed with bracing frame 308 are packed on work top, on bracing frame 308, be fixed with slide rail 304, there is the slide block 302 of annexation to be slidably matched with slide rail 304 with two cameras, slide block 302 is connected with the piston rod of lift cylinder 301 again, when needs are adjusted camera heights position, start lift cylinder 301 and just can realize.In order to realize the fine setting of camera, the both sides of described slide block 302 are combined with a sliding sleeve 202 by horizontal sliding bar 310, two detection camera 306 coordinate with sliding sleeve 303 by vertical slide bar 305, so just can sliding sleeve 303 finely tune the height of detection camera 306 with vertical slide bar 305; By sliding sleeve 303 and horizontal sliding bar 310, finely tune the spacing of two detection camera 306.The below of detection camera 306 is provided with the light source 307 that light is provided for it.The structure function of two detection camera is identical, one on a left side, one on the right side, whether the cover strip that the detection camera that left side is set be mainly responsible for to detect winding is sealed and is whether broken etc., the detection camera on right side be mainly responsible for detecting character on the chip in winding print additional quality and chip direction whether correct etc.
The effect of cancellation mark die set 5 is for example, by the mark of chip (position) Fast Labeling that is defined as substandard products after two inspections (the small circular scraps of paper that can stick on the diameter 3mm at substandard products place), cancellation mark die set 5 of the present invention is according to the description of above-mentioned functions, its structure can adopt structure known in the art, the preferred structure of the present invention is as follows: mainly comprise mark paper disc installation shaft 501, cancellation mark module installing rack 502, mark sheet tape guide roller 503, drift 504, connector 505, punching cylinder 506, gravity tensioning device installing plate 507, recovering tray motor 508, reclaim paper disc installation shaft 509, linear bearing 510, cushion excellent power glue 511, installation sleeve 512, die 513, gravity tensioning directive wheel 514, sensing chip 515, inductor 516, lower limit pin 517, slide block 518, guide wheel bracket 519, upper arresting pin 520, slide rail 521, axial location binding clasp 522 etc.
As Fig. 9, shown in Figure 10, cancellation mark die set 5 comprises substandard products hole punched device, substandard products hole punched device is the important device of cancellation mark die set, comprise the mark paper disc installation shaft 501 being arranged on cancellation mark module installing rack 502 and the recovery paper disc installation shaft 509 that is controlled by recovering tray motor 508, also comprise the installation sleeve 512 being fixed on cancellation mark module installing rack 502, punching cylinder 506, punching cylinder 506 of the present invention adopts lift cylinder, its axle head of exerting oneself connects firmly by a connector 505 and a drift 504, in described installation sleeve 512, be provided with a linear bearing 510, preferred structure is between linear bearing 510 and installation sleeve 512, to be also provided with the excellent power glue 511 of buffering, described drift 504 runs through linear bearing 510, cushion excellent power glue 511, and pass from installation sleeve 512, described drift has the position of the excellent power glue of compressing buffering in the process pressing down.The lower end of described installation sleeve 512 connects firmly a die 513, and its structure please refer to Figure 10, Figure 11, and described die 513 has a punching passing for drift 504, and a notch 5130 passing for mark paper tape.
The paper disc of mark paper tape mark paper disc installation shaft 501 drawn, on paper tape, one of kiss-coating faces down, one of kiss-coating do not face up, through the mark sheet tape guide roller 503 arranging on installing rack, through the notch 5130 on the die 513 of substandard products hole punched device, guide roller through arranging thereafter again, finally on the solid recovering tray around reclaiming in paper disc installation shaft 509, when recovering tray motor 5088 obtains order rotation, will drive the recovery paper disc installation shaft 509 connecting firmly with it to rotate, drive simultaneously and be packed in that the recovering tray reclaiming in paper disc installation shaft 509 rotates and rolling plays the waste material paper tape after mark.
In the time of idle, the end of drift 504 is parked in notch 5130 tops (highest order); During punching, drift 504, sweeps away a sequin the paper tape being in notch 5130 fast downwards under the effect of stamping cylinder 506, then continues with drift the substandard products position that decline pastes IC winding.When drift 504 approaches to winding substandard products position with sequin decline, by the excellent power glue 511 of buffering, slow down, can avoid damaging winding chips.
As shown in figure 12, cancellation mark die set 5 of the present invention also can comprise a gravity tensioning device, comprise the gravity tensioning device installing plate 507 being arranged on described cancellation mark module installing rack 502, the slide rail 521 and the slide block 518 that are packed on installing plate 507 have slip cooperating relationship, the front of described slide block 518 is fixedly mounted with a gravity tensioning directive wheel 514 passing for mark paper bag, the both sides that are positioned at gravity tensioning directive wheel 514 tops on described gravity tensioning device installing plate 507 are fixedly mounted with respectively a mark sheet tape guide roller 503, can also on gravity tensioning device installing plate 507, be fixedly mounted with a guide wheel bracket 519, mark sheet tape guide roller 503 is packed on described guide wheel bracket 519.The below of described slide block 518 is provided with a sensing chip 515, and described sensing chip 515 has the position that an inductor 516 arranging on by gravity tensioning device installing plate 507 is sensed in the process declining with slide block 518.The top of described gravity tensioning device installing plate 507 is also provided with one and stops slide block 518 to continue upper sliding upper arresting pin 520, and the below of described gravity tensioning device installing plate 507 is also provided with one and stops slide block 518 to continue the lower limit pin 517 gliding.
Because gravity tensioning directive wheel 514 is packed on the slide block 518 that can slide up and down along slide rail 521; when paper tape has tension force; gravity tensioning directive wheel 514 upward slidings; tension force is larger, and gravity tensioning directive wheel 514 upward slidings are higher, when paper tape is lax or during without paper tape; gravity tensioning directive wheel 514 is because of the downward landing of conducting oneself with dignity; the sensing chip 515 being packed on slide block 518 is also cut inductor 516 breach thereupon declining, send stopping signal, and recovering tray motor 508 stops action immediately.Wait for artificial treatment or change paper tape.
Cancellation mark die set of the present invention, the motion of mark paper tape is according to the order of mark demand, to drive the motion of mark paper tape by recovering tray motor (stepper motor); Be provided with mark sheet hole punched device, can utilize the special construction of drift and die, at the kiss-coating scraps of paper of the next roundlet of paper tape upper punch (diameter 3mm), and continue slightly to decline and paste cancellation mark position with drift, complete cancellation mark task.For the drift decrease speed of avoiding cylinder to drive is too fast, injure winding, at drift, sweep away after the paper tape roundlet scraps of paper, be subject to immediately cushioning the buffering of excellent power glue, make the kiss-coating roundlet scraps of paper below of drift impulsion downwards paste lightly the position of cancellation mark; Be provided with gravity tensioning device, in labeling process, occur mark paper tape too pine or broken belt and during without band, the gravity tensioning directive wheel deadweight of gravity tensioning device is glided, and by inductor, notify the fast reaction of recovering tray motor, tightens up paper tape or shutdown tape swapping.
A kind of full-automatic IC winding certification mark machine of the present invention, its before start by manually the axial fast positioning clamping device 103 on loading and unloading die set 1 being taken off, and the reel of the IC winding of needs detection is packed on this axle of reel bolster 104(and has key to coordinate with the keyway on reel), come on reel position-arresting disk 102, again axial fast positioning clamping device 103 is installed to appropriate location, to locate the axial location of reel.Afterwards, by manually the end of IC winding 100 being drawn, through auto-tensioning roller 106, winding guide reel 107, the gathering sill of forward and backward guide rail, aciculiform delivery wheel 515, be finally directed on the reel bolster of assisting winding die set 1 fixing.In addition, also mark paper disc to be installed in mark paper disc installation shaft 501, again the end on paper disc is drawn, one of paper tape kiss-coating is faced down, one of kiss-coating do not face up, through the notch (now the end of drift 504 is above die 513 notches) on the die 513 of substandard products hole punched device, again through each mark sheet guide roller 503 and gravity tensioning device thereafter, finally on the solid recovering tray around reclaiming in paper disc installation shaft 509, when recovering tray motor 508 obtains order rotation, will drive the recovery paper disc installation shaft 509 connecting firmly with it to rotate, drive simultaneously and be packed in that the recovering tray reclaiming in paper disc installation shaft 509 rotates and by the scratch tape rolling after mark.
After above-mentioned Job readiness is good, the program that starts the machine is carried out an inspection to winding, three motors in winding induction system are simultaneously in running order, when the traction servomotor 112 on it starts, drive aciculiform delivery wheel 115 is made to winding, and at the uniform velocity forward (to the right) is mobile, when in winding, first chip arrives the first inductor 110 position, two detection camera start, in the time of under first chip arrives the first detection camera, the first detection camera detects whether the cover strip at first chip place is sealed and whether breaking etc. place on record, when second, when the follow-up chip such as the 3rd is come under the first detection camera, be not always the case detection and record until winding all detected, equally, in the time of under first chip arrives the second detection camera, whether the second detection camera correctly etc. detects print additional quality and chip direction to character on first chip place on record, in the time of under the follow-up chip such as second, the 3rd is come the second detection camera, be not always the case detection and record until winding all detected.Winding at the uniform velocity drives in forward course of conveying at aciculiform delivery wheel 115, and the volume on loading and unloading die set 1 and auxiliary winding die set 4 is put band servomotor 101 and kept synchronizeing automatic releasing band or rolling band with traction servomotor 112 all the time.
When last chip of winding arrives the position of the second inductor 111, servomotor 112 is controlled rotates backward in traction, winding after driving one to examine at the uniform velocity oppositely (left) is mobile, when last chip of the winding after an inspection arrives under the second detection camera, whether the second detection camera correctly etc. carries out two inspections (reinspection) by print additional quality and chip direction to character on this chip, and by testing result and an inspection result comparison, if an inspection and two inspections are defective, when this chip arrives substandard products comparison die set, will be stamped substandard products (defective) mark, if an inspection is for defective two inspections are for a qualified or inspection is for qualified two inspections are when defective, traction servomotor 112 will hard stop and is sent alarm signal, by manually estimating judgement.If it is qualified that range estimation is judged as, just on display screen, by " qualified ", to be good for, then to press " continuation " button of machine, traction is carried and is proceeded, and when it arrives the below of cancellation mark device, mark drift can not carry out mark to this place; If it is defective that range estimation is judged as, just on display screen, by " defective ", to be good for, then to press " continuation " button of machine, traction is carried and is proceeded, and when it arrives cancellation mark device below, mark drift will carry out once defective mark to this place.When the follow-up chip such as second, the 3rd is come under the second detection camera in winding, be not always the case and detect and process.
When last chip of the winding after an inspection arrives under the first detection camera, the first detection camera detects whether the cover strip at this chip place is sealed and whether breaking etc., and by testing result and an inspection result comparison, if it is defective that an inspection and two inspections are, when this chip arrives substandard products comparison die set, cancellation mark will be stamped; If an inspection is for defective two inspections are for a qualified or inspection is for qualified two inspections are when defective, traction servomotor 112 will hard stop and is sent alarm signal, by manually estimating judgement.If it is qualified that range estimation is judged as, just on display screen, by " qualified ", to be good for, then to press " continuation " button of machine, traction is carried and is proceeded, and when it arrives cancellation mark device below, mark drift can not carry out mark to this place; If it is defective that range estimation is judged as, just on display screen, by " defective ", to be good for, then to press " continuation " button of machine, traction is carried and is proceeded, and when it arrives cancellation mark device below, mark drift will carry out cancellation mark one time to this place.When the follow-up chip such as second, the 3rd is come under the first detection camera in winding, be not always the case and detect and process.
Winding is when two inspections, aciculiform delivery wheel 115 at the uniform velocity drives in reverse (left) course of conveying of winding, and the volume that 1 rolling of loading and unloading die set and auxiliary winding die set 104 unreel is put band servomotor 101 and kept synchronizeing automatic releasing band or rolling band with traction servomotor 112 all the time.
When last chip of winding after an inspection (or first chip after two inspections) arrives the notch of die 513, if the chip reaching below it is while needing the substandard products of mark, the punching cylinder 506 that obtains tab command starts, drive drift 504 mark paper tape to be swept away to roundlet scraps of paper downwards, then drift continues to slow down descending under cushioning effect, the cancellation mark position that these little scraps of paper is attached to winding, completes the markers work to substandard products in winding.If the chip reaching below it is that while not needing the certified products of mark, punching cylinder 506 does not start, winding is not implemented to cancellation mark.
After an inspection, two inspections and the mark of first volume winding complete, unclamp fast positioning clamping device, take off the first winding, be loaded on volume Two winding and detect one by one and mark by above-mentioned steps, just the winding of volume one volume can be detected and mark.After mark paper tape is finished, unscrew axial location binding clasp 522, unload the waste paper band that mark is crossed, load onto new mark paper tape and can proceed.
A kind of full-automatic IC winding certification mark machine of the present invention, its feature having is as follows:
1. need to unreel and carry out an inspection and two inspections and mark are carried out in rolling;
2. be provided with loading and unloading die set and auxiliary Webbing take-up device.Winding to be detected is contained on loading and unloading die set, by manually winding being directed on auxiliary Webbing take-up device.When one inspection detects (hereinafter to be referred as an inspection), loading and unloading die set unreels, auxiliary Webbing take-up device rolling; When two inspections detect (hereinafter to be referred as two inspections), auxiliary Webbing take-up device unreels, the rolling of loading and unloading die set.One when examined, and still has part blanking bar on the reel of loading and unloading die set, can automatic winding when guaranteeing two inspections.
3. be provided with axial fast positioning clamping device, this device is realized the axially location and clamping fast to winding reel by the size in the hole that changes chuck and fixture block and form.
4. be provided with detection die set, can complete an inspection and two inspections (or reinspection) of winding.The detection die set being comprised of two high speed cameras carries out an inspection one by one and an inspection result is placed on record one by one the winding unreeling, and a winding of examining is by assisting winding module automatic winding; After an inspection of winding completes, winding meeting after one inspection is by assisting Webbing take-up device automatic reverse to unreel, by detecting module, the winding oppositely unreeling is carried out to two inspections one by one and result and an inspection result are contrasted again, if inspection two inspections are defective, when this position arrives cancellation mark die set below, the drift of cancellation mark die set starts, and pastes upper defective mark to substandard products position.When one inspection of a certain position is for defective two inspections are for a qualified or inspection is for qualified two inspections are when defective, the traction on guide rail die set carries the motor will hard stop and send alarm signal, by manually estimating judgement.If it is qualified that range estimation is judged as, just on display screen, by " qualified ", to be good for, then to press " continuation " button of machine, traction is carried and is proceeded, and in the time of below this place arrives cancellation mark device, mark drift can not carry out mark to this place; If it is defective that range estimation is judged as, just on display screen, by " defective ", to be good for, then to press " continuation " button of machine, traction is carried and is proceeded, and in the time of below this place arrives cancellation mark device, mark drift will carry out cancellation mark one time to this place.
5. be provided with cancellation mark die set, underproof mark is stamped in the underproof position that it can be confirmed two inspections, also Manual Visual Inspection can be confirmed as to underproof position and stamp underproof mark.
6. be provided with guide rail die set, the aciculiform wheel that has traction driven by servomotor on it, in testing process, winding is to be taken turns by the aciculiform of traction driven by servomotor, make winding at the uniform velocity forward traction carry and carry out an inspection or make winding at the uniform velocity oppositely draw conveying carrying out two inspection inspections.
7. the volume on loading and unloading die set and auxiliary Webbing take-up device is put translator, it is all Torque Control formula servomotor, they can draw in servomotor distraction procedure on guide rail die set, remain certain tensioning moment, make winding keep necessary rate of tension.
The present invention is by preferred embodiment having carried out detailed explanation.Yet, by studying carefully above, to the variation of each embodiment with to increase be also that one of ordinary skill in the art institute is apparent.Being intended that all these variations and increasing of applicant all dropped in the protection domain of the claims in the present invention.
Similar numbering refers to similar element in the whole text.For clarity, may there is in the accompanying drawings the situation that some line, layer, element, parts or feature are amplified.
Term used herein is only for to be illustrated specific embodiment, and it is not intended to limit the invention.Unless otherwise defined, all terms used herein (comprising technical term and scientific terminology) are all identical with one of ordinary skill in the art's of the present invention understanding.Also must be clear and definite, except having in this article clear and definite definition, such as the term conventionally defining in dictionary, should be interpreted as can thering is the consistent meaning in the linguistic context of this description and correlation technique, and the idealized or undue formalization that should not explain.Known function or structure are in briefly and clearly considering or repeating no more.
Claims (9)
1. a detection method for full-automatic IC winding, is characterized in that, comprises the following steps:
Servomotor forward is controlled IC winding from the blanking of loading and unloading die set, through guide rail die set, is delivered to auxiliary winding die set material loading, and in this process, electric control system is controlled detection camera, and to IC, winding detects and record, is called for short an inspection; Then servomotor reversion is controlled IC winding from auxiliary winding die set blanking, through guide rail die set, is delivered to loading and unloading die set material loading, and in this process, electric control system is controlled detection camera, and to IC, winding detects and record, is called for short two inspections;
The result of contrast one inspection and two inspections, defective if testing result is, defective work is carried out to mark; If an inspection is qualified, two inspections are defective or an inspection is defective, two letters are qualified, notice is manually confirmed, if artificial judgment is defective work, defective work is carried out to mark.
2. a full-automatic IC winding certification mark machine, is characterized in that, comprising:
For the loading and unloading die set of blowing and rewinding, auxiliary winding die set, described loading and unloading die set, auxiliary winding die set include for placing the reel bolster of IC winding controlled servomotor; And be arranged between described loading and unloading die set and auxiliary winding die set,
Guide rail die set, comprises a gathering sill of carrying for IC winding;
Detect die set, comprise a plurality of detection camera that are positioned at described gathering sill top, described detection camera detects and record the IC winding on gathering sill; And,
Be positioned at gathering sill top and underproof IC winding carried out to the cancellation mark die set of mark; And,
For controlling the electric control system of loading and unloading die set, auxiliary winding die set, guide rail die set, detection die set, the coordinated movement of various economic factors of cancellation mark die set;
Wherein, described reel bolster is provided with an axial fast positioning clamping device, comprise the chuck that is provided with central through hole, the sidewall of described chuck longitudinally has one through described central through hole but does not run through the groove of chuck, also comprise that guider screw and is provided with the fixture block of through hole, described guider screw is through the screw arranging on the slotted hole arranging on fixture block and chuck, fixture block is engaged in groove, the bottom resilient engagement of described fixture block and groove, described fixture block, in the process of sliding along groove, has a position that its through hole is communicated with the central through hole of chuck.
3. certification mark machine according to claim 2, it is characterized in that: comprise a loading stand, described loading and unloading die set, auxiliary winding die set lay respectively at the two ends of loading stand, comprise that respectively one is installed in the gripper shoe of loading stand, the rotating shaft that is installed in the servomotor in gripper shoe is connected with reel bolster.
4. certification mark machine according to claim 2, is characterized in that: the bottom of described fixture block is provided with spring base hole, in described spring base hole, spring is housed, together with groove fit.
5. certification mark machine according to claim 2, is characterized in that: described guide rail die set comprises bearing, and described bearing is provided with two slide blocks that are positioned on same slide rail; On two slide blocks, be fixed with respectively a fromer rail, rear rail; Between described fromer rail and rear rail, form the described gathering sill of carrying for IC winding.
6. certification mark machine according to claim 5, is characterized in that: on described gathering sill, be also provided with one be controlled by traction servomotor for transmitting the aciculiform delivery wheel of IC coiled material.
7. certification mark machine according to claim 2, it is characterized in that: described detection die set comprises bracing frame, be packed in slide rail on bracing frame and be combined with a slide block that is controlled by lift cylinder, the both sides of described slide block are sliding combined with sliding sleeve by fine setting horizontal sliding bar, and described detection camera is combined together by fine adjustment of vertical slide bar and sliding sleeve.
8. certification mark machine according to claim 2, it is characterized in that: described cancellation mark die set comprises the mark paper disc installation shaft being arranged on cancellation mark module installing rack and reclaims paper disc installation shaft, also be provided with a substandard products hole punched device, comprise the installation sleeve being fixed on cancellation mark module installing rack, punching cylinder, the axle head of exerting oneself of described punching cylinder connects firmly a drift, described drift coordinates the excellent power glue of buffering and linear bearing to be arranged in installation sleeve, the lower end of described installation sleeve connects firmly a die, described die has a punching passing for drift, and the notch passing for mark paper tape.
9. certification mark machine according to claim 8, it is characterized in that: be also provided with a gravity tensioning device, comprise the gravity tensioning device installing plate being arranged on described cancellation mark module installing rack, on described installing plate, be sliding combined with a slide block, the front of described slide block is fixedly mounted with a gravity tensioning directive wheel passing for mark paper bag, the both sides that are positioned at gravity tensioning directive wheel top on described gravity tensioning device installing plate are fixedly mounted with respectively a mark sheet tape guide roller, the below of described slide block is provided with a sensing chip, described sensing chip has a position that inductor sensed arranging on by gravity tensioning device installing plate in the process declining with slide block.
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| CN201210256841.XA CN102773878B (en) | 2012-07-24 | 2012-07-24 | Detection method for fully-automatic IC (chip) tape and detection equipment thereof |
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| CN201210256841.XA CN102773878B (en) | 2012-07-24 | 2012-07-24 | Detection method for fully-automatic IC (chip) tape and detection equipment thereof |
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| CN102773878B true CN102773878B (en) | 2014-11-05 |
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Address after: Park View Road 518000 in Guangdong province Shenzhen City Pingshan New District Industrial Zone No. 33 grand equipment Industrial Park Patentee after: Shenzhen geland intelligent equipment Limited by Share Ltd Address before: Park View Road 518000 in Guangdong province Shenzhen City Pingshan New District Industrial Zone No. 33 grand equipment Industrial Park Patentee before: Grand Technology (Shenzhen) Co.,Ltd. |
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Effective date of registration: 20210326 Address after: 518000 1st to 3rd floors of phase II plant of Granda equipment Industrial Park, 33 Cuijing Road, Zhukeng community, Longtian street, Pingshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Gexin integrated circuit equipment Co.,Ltd. Address before: 518000 Granda equipment Industrial Park, 33 Cuijing Road, Pingshan new area, Shenzhen City, Guangdong Province Patentee before: SHENZHEN GRAND INTELLIGENT EQUIPMENT Co.,Ltd. |
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